#!/bin/sh
#
# @name Aion Robotics R1 UGV
#
# @url https://docs.px4.io/main/en/complete_vehicles_rover/aion_r1.html
#
# @type Rover
# @class Rover
#

. ${R}etc/init.d/rc.rover_differential_defaults

param set-default BAT1_N_CELLS 4

# Set geometry & output configration
param set-default RBCLW_ADDRESS 128
param set-default RBCLW_FUNC1 101
param set-default RBCLW_FUNC2 102
param set-default RBCLW_REV 1 # reverse right wheels


param set-default NAV_ACC_RAD 0.5

# Differential Parameters
param set-default RD_WHEEL_TRACK 0.3
param set-default RD_TRANS_DRV_TRN 0.785398
param set-default RD_TRANS_TRN_DRV 0.139626

# Rover Control Parameters
param set-default RO_ACCEL_LIM 3
param set-default RO_DECEL_LIM 4
param set-default RO_JERK_LIM 5
param set-default RO_MAX_THR_SPEED 1.9

# Rover Rate Control Parameters
param set-default RO_YAW_RATE_I 0.1
param set-default RO_YAW_RATE_P 0.1
param set-default RO_YAW_RATE_LIM 250
param set-default RO_YAW_ACCEL_LIM 600
param set-default RO_YAW_DECEL_LIM 600
param set-default RO_YAW_RATE_CORR 2.7

# Rover Attitude Control Parameters
param set-default RO_YAW_P 2.5

# Rover Velocity Control Parameters
param set-default RO_SPEED_LIM 1.6
param set-default RO_SPEED_I 0.01
param set-default RO_SPEED_P 0.1
param set-default RO_SPEED_RED 1

# Pure Pursuit parameters
param set-default PP_LOOKAHD_GAIN 1
param set-default PP_LOOKAHD_MAX 10
param set-default PP_LOOKAHD_MIN 1
